According to previous test done, ros2 message system has millisecond delay with ignition gazebo, need to halt ignition gazebo step forwarding to prevent information mismatch (if needed), or increase odometry publish rate + increase time step of simulation. Need to rebenchmark, show results, and find if needed to align.
According to previous test done, ros2 message system has millisecond delay with ignition gazebo, need to halt ignition gazebo step forwarding to prevent information mismatch (if needed), or increase odometry publish rate + increase time step of simulation. Need to rebenchmark, show results, and find if needed to align.